基于轨道变换法的多无人机跟踪相角修正研究

Research on correction of multi-UAVs tracking phase angle based on orbit transform method

针对多无人飞行器协同standoff跟踪目标下的相角协调修正问题,提出了一种轨道变换法。建立了无人机运动学模型,用Lyapunov矢量场方法为无人机提供跟踪制导指令。通过在期望的standoff跟踪轨道外设置外轨道,将相角修正问题转化为无人机在两轨道上飞行时间差的控制问题,同时给出了确定多无人机机动变轨顺序的方法。最后对静止目标协同跟踪相角修正问题进行了仿真验证,仿真结果表明了该方法的正确性和有效性。

An orbit transformation method is proposed for coordinated correction of phase angle of unmanned aerial vehicle(UAV) with standoff tracking target. The kinematics model of UAV is established, and the Lyapunov vector field method is used to provide tracking guidance instructions for UAV. By setting an external orbit outside the expected standoff tracking orbit, the phase angle correction problem is transformed into the time control problem of UAV on two orbits. Meanwhile, the method of determining the maneuvering orbit change sequence of multi-UAVs is given. Finally, the phase angle correction problem of coordinated tracking of stationary targets is simulated and validated. The simulation results show that the method is correct and effective.